diff --git a/FTP Server/client.py b/FTP Server/client.py
new file mode 100644
index 0000000..0b8d05e
--- /dev/null
+++ b/FTP Server/client.py	
@@ -0,0 +1,131 @@
+import socket
+IP=socket.gethostbyname(socket.gethostname())
+PORT=3030
+FORMAT='utf-8'
+HEADER=10
+DISCONNECT_MESSAGE="disconnect"
+
+ADDR=(IP,PORT)
+
+client=socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+
+client.connect(ADDR)
+print(client.recv(1024).decode(FORMAT))
+def send(msg):
+    message=msg.encode(FORMAT)
+    client.send(message)
+
+def RETR(client,path):
+    data = client.recv(1024).decode()
+
+    with open(path,'w') as f:
+        data = client.recv(1024).decode()
+        f.write(data)
+
+def STOR(client,path):
+    with open(path,'rb') as f:
+        data = f.read()
+        client.sendall(data)
+
+def authorization():
+    
+    user=input("Enter username:")
+    send(user)
+    passw=input("Enter password:")
+    send(passw)
+    s=client.recv(1024).decode(FORMAT)
+    if s=="11":
+        print("Logged in as admin")
+        return 1
+    elif s=="10":
+        print("Login successful")
+        return 0
+        
+    elif s=="3":
+        print("You are a new user do you want to sign up.\nIf yes press 1,else 0")
+        ch=int(input("1/0:"))
+        if ch==1:
+            send("1")
+            print("Registered as a new user")
+        else :
+            send("hfjd")
+            print("Thank you")
+            client.close()
+        
+        return 0
+    elif s=="4":
+        print("You are banned from the server")
+        client.close()
+        
+    else :
+        print("Invalid credentials ")
+        client.close()
+
+
+def LIST(client):
+    print(client.recv(1024).decode(FORMAT))
+
+    
+def RETR(client,path):
+    data = client.recv(1024).decode()
+
+    with open(path,'w') as f:
+        data = client.recv(1024).decode()
+        f.write(data)
+
+    print("File retrieved succesfully!")
+
+
+
+    
+role=authorization()
+
+if role==0:
+    while True:
+        command = input("Enter a command (LIST, RETR <filename>, STOR <filename>or QUIT): ").strip()
+        send(command)
+        if command == "LIST":
+            LIST(client)
+        elif command.startswith("RETR"):
+            _, filename = command.split(' ', 1)
+
+            RETR(client,filename.strip())
+        elif command.startswith("STOR"):
+            _, filename = command.split(' ', 1)
+
+            STOR(client,filename)
+        elif command == "QUIT":
+            print("Disconnecting from the server...")
+            break
+        else:
+            print("Invalid command. Please try again.")
+if role == 1:
+    while True:
+        command = input("Enter a command (ADDUSER <username> <password>, DELUSER <username>, BAN <username>,UNBAN <username>,QUIT): ").strip()
+        send(command)
+        if command.startswith("ADDUSER"):
+            _, username, password = command.split(' ', 2)
+            print(f"{username} is successfully added to the server")
+            
+
+        elif command.startswith("DELUSER"):
+            _, username = command.split(' ', 1)
+            print(f"{username} is deleted from the server")
+            
+        elif command.startswith("BAN"):
+            _, username = command.split(' ', 1)
+            print(f"{username} is banned from the server")
+            
+        elif command.startswith("UNBAN"):
+            _, username = command.split(' ', 1)
+            print(f"{username} is unbanned from the server")
+            
+        
+        elif command == "QUIT":
+            print("Disconnecting from the server...")
+            break
+        else:
+            print("Invalid command. Please try again.")
+
+
+client.close()
diff --git a/FTP Server/server.py b/FTP Server/server.py
new file mode 100644
index 0000000..28443fa
--- /dev/null
+++ b/FTP Server/server.py	
@@ -0,0 +1,163 @@
+import socket
+import threading
+import time
+import os
+
+IP = socket.gethostbyname(socket.gethostname())
+PORT = 3030
+FORMAT = 'utf-8'
+HEADER = 10
+DISCONNECT_MESSAGE = "disconnect"
+
+ADDR = (IP, PORT)
+server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+server.bind(ADDR)
+
+def handle_client(conn, addr, user, pass_user,ban,unban):
+    print(f"[New connection]: {addr} connected")
+    connected = True
+    conn.send("You are successfully connected to the server. Please respond by typing the asked details".encode(FORMAT))
+
+    while connected:
+        out = auth(conn, user, pass_user,ban)
+        if out == 0:
+            break
+
+        if out==1:
+            while True:
+                try:
+                    command = conn.recv(1024).decode(FORMAT)
+                    if command == "LIST":
+                        ls(conn)
+                    elif command.startswith("RETR"):
+                        _, filename = command.split(' ', 1)
+
+                        retr(conn,filename.strip())
+                    elif command.startswith("STOR"):
+                        _, filename = command.split(' ', 1)
+                        store(conn,filename)
+                    elif command == "QUIT":
+                        print(f"Client {addr} disconnected")
+                        conn.close()
+                        connected = False
+                        break
+                    else:
+                        print("Unknown command received.")
+                        break
+
+                except Exception as e:
+                    print(f"Error occurred: {e}")
+                    break
+        if out==2:
+            while True:
+                try:
+                    command = conn.recv(1024).decode(FORMAT)
+                    
+                    if command.startswith("ADDUSER"):
+                        _, username, password = command.split(' ', 2)
+                        adduser(username,password,user,pass_user)
+                    elif command.startswith("DELUSER"):
+                        _, username = command.split(' ', 1)
+                        delete(username,user,pass_user)
+                    elif command.startswith("BAN"):
+                        _, username = command.split(' ', 1)
+                        ban(username,ban)
+                    elif command.startswith("UNBAN"):
+                        _, username = command.split(' ', 1)
+                        unban(username,ban)
+                    elif command == "QUIT":
+                        print(f"Client {addr} disconnected")
+                        conn.close()
+                        connected = False
+                        break
+                    else:
+                        print("Unknown command received.")
+                except Exception as e:
+                    print(f"Error occurred: {e}")
+                    break
+
+
+
+def auth(conn, user, pass_user,ban):
+    username = conn.recv(1024).decode(FORMAT)
+    passw = conn.recv(1024).decode(FORMAT)
+    if (username in user) and (username not in ban):
+        
+        if passw == pass_user[user.index(username)]:
+            if passw=="letmesleep" and username=="admin":
+                conn.send("11".encode(FORMAT))
+                return 2
+            else:
+                conn.send("10".encode(FORMAT))
+                return 1
+        else:
+            conn.send("Invalid credentials".encode(FORMAT))
+            conn.close()
+            return 0
+    elif ( username not in ban):
+        conn.send("3".encode(FORMAT))
+        res = conn.recv(1024).decode(FORMAT)
+        if res == "1":
+            user.append(username)
+            pass_user.append(passw)
+            print(user)
+            print(pass_user)
+            return 1
+        else:
+            conn.close()
+            return 0
+    else:
+        conn.send("4".encode(FORMAT))
+
+def ls(client):
+    dirs = os.listdir("./")
+    client.send("\n".join(dirs).encode())
+
+def retr(client,path):
+    client.send(path.encode())
+    time.sleep(0.1)
+    with open(path,'rb') as f:
+        data = f.read()
+        client.sendall(data)
+
+def store(conn,path):
+    stream = conn.recv(1024).decode()
+    
+    with open(str(path),'w') as f:
+        f.write(stream)
+    
+    conn.send(b"File stored succesfully!")
+def ban(username,ban):
+    ban.append(username)
+
+def unban(username,ban):
+    ban.remove(username)
+
+def delete(username,user,pass_user):
+    i=user.index(username)
+    user.remove(username)
+    pass_user.pop(i)
+
+
+def adduser(username,password,user,pass_user):
+    user.append(username)
+    pass_user.append(password)
+
+
+
+def start():
+    server.listen()
+    print("Server is listening")
+    user = ['admin']
+    pass_user = ['letmesleep']
+    ban=[]
+    unban=[]
+
+    while True:
+        conn, addr = server.accept()
+        thread = threading.Thread(target=handle_client, args=(conn, addr, user, pass_user,ban,unban))
+        thread.start()
+        print(f'[Active clients]: ({threading.active_count() - 1})')
+
+print("SERVER is starting")
+start()
diff --git a/OOPS/.gitignore b/OOPS/.gitignore
new file mode 100644
index 0000000..f47cb20
--- /dev/null
+++ b/OOPS/.gitignore
@@ -0,0 +1 @@
+*.out
diff --git a/OOPS/main.cpp b/OOPS/main.cpp
new file mode 100644
index 0000000..8c3cf31
--- /dev/null
+++ b/OOPS/main.cpp
@@ -0,0 +1,455 @@
+#include <algorithm>
+#include <chrono>
+#include <cstdio>
+#include <ctime>
+#include <iostream>
+#include <map>
+#include <stdexcept>
+#include <string>
+#include <sys/types.h>
+#include <vector>
+
+using namespace std;
+
+struct Date {
+  int year;
+  int month;
+  int day;
+};
+typedef struct Date Date;
+
+struct Transaction {
+  int acc_no;
+  string statement;
+  Date date;
+};
+
+class BankAccount;
+class BankAccountHolder;
+
+const float SAVINGS_MIN = 100;
+const float SAVINGS_TRANS_MAX = 10000;
+
+int account_no_count = 0;
+map<int, BankAccount> bank_accounts;
+map<string, BankAccountHolder> account_holders;
+vector<Transaction> transactions;
+
+BankAccount *curr_account;
+BankAccountHolder *curr_holder;
+
+// Terminal Utils
+void clrsrc() { cout << "\033[2J\033[1;1H"; }
+void press_enter_to_continue() {
+  cout << "(Press Enter to Continue)" << endl;
+  cin.clear();
+  cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
+  cin.get();
+}
+
+Date get_current_date() {
+  time_t currentTime = time(nullptr);
+
+  // Convert current time to struct tm
+  tm *timeinfo = localtime(&currentTime);
+
+  Date curr_date;
+  // Extract year, month, and day from timeinfo
+  curr_date.year = timeinfo->tm_year + 1900; // years since 1900
+  curr_date.month = timeinfo->tm_mon + 1;    // months since January [0, 11]
+  curr_date.day = timeinfo->tm_mday;         // day of the month [1, 31]
+  return curr_date;
+}
+
+class BankAccount {
+public:
+  int acc_no;
+  int type;
+  float interest_rate;
+  float balance;
+  Date open_date;
+  void withdraw(float amount) {
+    if (amount <= balance) {
+      balance -= amount;
+    } else {
+      throw invalid_argument("Not possible not enough balance");
+    }
+  };
+  void deposit(float amount) { balance += amount; };
+  void transfer(float amount, int ben_acc_no) {
+    BankAccount *to_acc = &bank_accounts[ben_acc_no];
+    if (amount <= balance) {
+      balance -= amount;
+      to_acc->balance += amount;
+      Transaction trans;
+      string st = "Ammount " + to_string(amount) + " transferred from " +
+                  to_string(acc_no) + " to " + to_string(ben_acc_no);
+      trans.statement = st;
+      trans.date = get_current_date();
+      trans.acc_no = acc_no;
+      transactions.push_back(trans);
+    } else {
+      throw invalid_argument("Not possible not enough balance");
+    }
+  };
+};
+
+class SavingsAccount : public BankAccount {
+public:
+  float getInterestRate() { return interest_rate; }
+
+public:
+  void setInterestRate(float rate) {
+    if (interest_rate <= 6) {
+      interest_rate = rate;
+    } else {
+      cout << "Interest rate cannot be higher than 6%" << endl;
+      throw invalid_argument("Interest");
+    }
+  }
+};
+
+class CheckingAccount : public BankAccount {
+public:
+  void setInterestRate(float interest) { interest_rate = interest; }
+};
+
+class BankAccountHolder {
+public:
+  string Name;
+  string Username;
+  string passwd;
+  vector<int> bankaccounts;
+  void changepasswd(string pass) { passwd = pass; }
+  vector<int> get_accounts() { return bankaccounts; }
+
+public:
+  int createAccount(int type, float start_amount, float interest) {
+    try {
+      switch (type) {
+      case 1:
+        if (start_amount < SAVINGS_MIN) {
+          throw invalid_argument(
+              "Opening Savings Account requires at least 100");
+        }
+        SavingsAccount saving_acc;
+        saving_acc.acc_no = account_no_count + 1;
+        saving_acc.type = 1;
+        saving_acc.balance = start_amount;
+        saving_acc.open_date = get_current_date();
+        saving_acc.setInterestRate(interest);
+        bankaccounts.push_back(saving_acc.acc_no);
+        bank_accounts[saving_acc.acc_no] = saving_acc;
+        break;
+      case 2:
+        CheckingAccount check_acc;
+        check_acc.acc_no = account_no_count + 1;
+        check_acc.type = 2;
+        check_acc.balance = start_amount;
+        check_acc.open_date = get_current_date();
+        check_acc.setInterestRate(interest);
+        bankaccounts.push_back(check_acc.acc_no);
+        bank_accounts[check_acc.acc_no] = check_acc;
+        break;
+      }
+    } catch (...) {
+      cout << "Cannot create Account" << endl;
+      press_enter_to_continue();
+    }
+    account_no_count++;
+    return account_no_count;
+  }
+};
+
+class BranchManager {
+public:
+  string username;
+  string passwd;
+  void print_holders() {
+    cout << "Account Name:Account number" << endl;
+    for (const auto &pair : account_holders) {
+      for (int acc_no : pair.second.bankaccounts) {
+        cout << pair.second.Name << ':' << acc_no << endl;
+      }
+    }
+    press_enter_to_continue();
+  }
+  void view_all_statements() {
+    for (Transaction t : transactions) {
+      printf("%d/%d/%d: ", t.date.day, t.date.month, t.date.year);
+      cout << t.statement << endl;
+    }
+    press_enter_to_continue();
+  }
+  void fast_forward() {
+    cout << "Enter time in days" << endl;
+    int days;
+    cin >> days;
+    for (auto it = bank_accounts.begin(); it != bank_accounts.end(); ++it) {
+      it->second.balance +=
+          (it->second.balance * it->second.interest_rate * days / 365) / 100;
+    }
+    cout << "Fast forworded" << endl;
+    press_enter_to_continue();
+  }
+};
+
+int get_option_bw(int a, int b) {
+  int opt;
+  while (true) {
+    cin >> opt;
+    if (opt <= b && opt >= a)
+      break;
+    printf("Please enter a number between %d and %d\n", a, b);
+  }
+  return opt;
+}
+
+int who_you() {
+  clrsrc();
+  cout << "Who are you (Enter the number to select)" << endl;
+  cout << "1. Bank Account Holder" << endl;
+  cout << "2. Branch Manager" << endl;
+  return get_option_bw(1, 2);
+}
+
+void create_new_account_holder() {
+  string name;
+  string username;
+  string passwd;
+
+  try {
+    clrsrc();
+    cout << "Enter your name" << endl;
+    cin >> name;
+    cout << "Enter your UserName" << endl;
+    cin >> username;
+    cout << "Enter your Password" << endl;
+    cin >> passwd;
+  } catch (...) {
+    throw invalid_argument("Cannot get Account holder info");
+    press_enter_to_continue();
+  }
+  try {
+    BankAccountHolder acc_holder;
+    acc_holder.Name = name;
+    acc_holder.passwd = passwd;
+    acc_holder.Username = username;
+    account_holders[username] = acc_holder;
+  } catch (...) {
+    throw invalid_argument("Cannot add account holder");
+    press_enter_to_continue();
+  }
+}
+
+void create_account() {
+  clrsrc();
+  cout << "Select Account type" << endl
+       << "1. Savings Account" << endl
+       << "2. Checking Account" << endl;
+  int opt = get_option_bw(1, 2);
+  try {
+    cout << "Enter Start Balance" << endl;
+    float start_bal;
+    cin >> start_bal;
+    cout << "Enter Interest Rate" << endl;
+    float interest;
+    cin >> interest;
+    int acc_no = curr_holder->createAccount(opt, start_bal, interest);
+    cout << "Account Created with acc. no: " << acc_no << endl;
+    press_enter_to_continue();
+  } catch (...) {
+    throw invalid_argument("");
+  }
+}
+void select_account() {
+  int acc_no;
+  try {
+    cout << "Enter Account no: ";
+    cin >> acc_no;
+    curr_account = &bank_accounts[acc_no];
+  } catch (...) {
+    cout << "Cannot Find Bank account" << endl;
+    press_enter_to_continue();
+  }
+}
+void transfer_money() {
+  int ben_acc_no;
+  float amount;
+  try {
+    cout << "Enter Account no(Beneficiary): ";
+    cin >> ben_acc_no;
+    cout << "Enter Amount to be tranferred: ";
+    cin >> amount;
+  } catch (...) {
+    cout << "Cannot Find Bank account" << endl;
+    press_enter_to_continue();
+  }
+  try {
+    curr_account->transfer(amount, ben_acc_no);
+  } catch (...) {
+    cout << "Cannot transfer amount" << endl;
+    press_enter_to_continue();
+  }
+}
+void view_balance() {
+  int acc_no;
+  try {
+    printf("Account Balance is: %f\n", curr_account->balance);
+    press_enter_to_continue();
+  } catch (...) {
+    cout << "Cannot Find Bank account" << endl;
+  }
+}
+
+void view_statements() {
+  for (Transaction t : transactions) {
+    if (t.acc_no == curr_account->acc_no) {
+      printf("%d/%d/%d: ", t.date.day, t.date.month, t.date.year);
+      cout << t.statement << endl;
+    }
+  }
+  press_enter_to_continue();
+}
+
+void delete_account() {
+  try {
+    int acc_no = curr_account->acc_no;
+    curr_holder->bankaccounts.erase(
+        std::remove(curr_holder->bankaccounts.begin(),
+                    curr_holder->bankaccounts.end(), acc_no),
+        curr_holder->bankaccounts.end());
+    bank_accounts.erase(acc_no);
+    cout << "Account Deleted" << endl;
+  } catch (...) {
+    cout << "No such Account" << endl;
+  }
+  press_enter_to_continue();
+}
+
+void login_acc_holder() {
+  string username;
+  string passwd;
+
+  try {
+    clrsrc();
+    cout << "Enter your UserName" << endl;
+    cin >> username;
+    cout << "Enter your Password" << endl;
+    cin >> passwd;
+  } catch (...) {
+    throw invalid_argument("Cannot get Account holder info");
+    press_enter_to_continue();
+  }
+
+  try {
+    curr_holder = &account_holders[username];
+    if (curr_holder->passwd == passwd) {
+      cout << "You are logged in" << endl;
+    } else {
+      throw invalid_argument("Username or password invalid");
+      press_enter_to_continue();
+    }
+  } catch (...) {
+    throw invalid_argument("Username or password invalid");
+    press_enter_to_continue();
+  }
+
+  clrsrc();
+  cout << "What Operation You want to perform" << endl
+       << "1. Create Account" << endl
+       << "2. Transfer Amount" << endl
+       << "3. View Balance" << endl
+       << "4. View Statements" << endl
+       << "5. Delete Account" << endl;
+  int opt = get_option_bw(1, 5);
+  switch (opt) {
+  case 1:
+    try {
+      create_account();
+    } catch (...) {
+      cout << "Cannot create account" << endl;
+      press_enter_to_continue();
+    }
+    break;
+  case 2:
+    select_account();
+    transfer_money();
+    break;
+  case 3:
+    select_account();
+    view_balance();
+    break;
+  case 4:
+    select_account();
+    view_statements();
+    break;
+  case 5:
+    select_account();
+    delete_account();
+    break;
+  }
+}
+
+int main() {
+  BranchManager branch_manager;
+  branch_manager.username = "root";
+  branch_manager.passwd = "root";
+  bool quit = false;
+  while (!quit) {
+    int user_type = who_you();
+    if (user_type == 1) {
+      clrsrc();
+      cout << "1. New User" << endl << "2. Existing User" << endl;
+      int opt = get_option_bw(1, 2);
+      if (opt == 1) {
+        try {
+          create_new_account_holder();
+        } catch (...) {
+          cout << "Cannot new create account holder" << endl;
+          press_enter_to_continue();
+        }
+      } else {
+        try {
+          login_acc_holder();
+        } catch (...) {
+          cout << "Cannot login" << endl;
+          press_enter_to_continue();
+        }
+      }
+    } else {
+      cout << "Enter BranchManager Username" << endl;
+      string usr;
+      cin >> usr;
+      cout << "Enter BranchManager Password" << endl;
+      string passwd;
+      cin >> passwd;
+      if (branch_manager.username == usr && branch_manager.passwd == passwd) {
+        clrsrc();
+        cout << "1. Print statements of all accounts" << endl
+             << "2. Print Account Holder names" << endl
+             << "3. Fast Forward" << endl;
+        int ch = get_option_bw(1, 3);
+        switch (ch) {
+        case 1:
+          branch_manager.view_all_statements();
+          break;
+        case 2:
+          branch_manager.print_holders();
+          break;
+        case 3:
+          branch_manager.fast_forward();
+          break;
+        }
+
+      } else {
+        cout << "Username/Password Invalid" << endl;
+      }
+    }
+    clrsrc();
+    cout << "Do you want to quit?" << endl
+         << "0. No" << endl
+         << "1. Yes" << endl;
+    cin >> quit;
+  }
+}
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+# Setup and building ROS project
+
+## Ros  and Catkin setup
+1. Following the setup given in [this](https://github.com/lesaf92/ros_noetic_ubuntu22) repo
+
+2. Installing mamba
+
+`curl -L -O "https://github.com/conda-forge/miniforge/releases/latest/download/Mambaforge-$(uname)-$(uname -m).sh"
+bash Mambaforge-$(uname)-$(uname -m).sh`
+
+3. Setup virtual environment with mamba
+`mamba create -n ros_env python=3.9 -c conda-forge
+mamba activate ros_env
+conda config --env --add channels conda-forge
+conda config --env --add channels robostack-staging
+conda config --env --remove channels defaults
+mamba install ros-noetic-desktop-full
+mamba install catkin_tools
+mamba install rosdep
+rosdep init
+rosdep update`
+
+
+2. Installing ros-noetic-desktop-full with robostack instead of conda-forge
+
+3. Creating catkin workspace
+
+`mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src
+`
+4. Building with
+`catkin init && catkin build`
+
+5. Unzip the contents of smb_common in the zip file in the src directory
+
+6. Sourcing environment with
+`source devel/setup.zsh`
+on zsh
+
+7. Running smb_gazebo with roslaunch
+`roslaunch smb_gazebo smb_gazebo.launch`
+
+## RoboCup world running
+![alt](images/robocup.png)
+
+## ScreenShots
+![alt](images/1.png)
+![alt](images/2.png)
+![alt](images/3.png)
+![alt](images/4.png)
+![alt](images/5.png)